Fire rescue personnel real-time positioning and tracking system based on edge computing

Abstract

The application discloses a fire rescue personnel real-time positioning and tracking system based on edge computing and particularly relates to the technical field of fire communication. The system comprises an entry binding module, an anchor point generation module, a gait continuation module, a distance quantification module and a tracking and reporting module. An edge computing gateway receives a registration frame sent by a positioning tag, generates an entry matching serial value in combination with a task queue written by a fire command terminal, and generates an anchor point coordinate value accordingly. Then, acceleration sensor and gyroscope acquisition values in the positioning tag are read, a continuation coordinate value and a positioning distance value are calculated, a remaining queue bit in a link queue is selected, and a personnel positioning trajectory value is obtained. The application can complete identity matching, entry anchor point establishment and first-stage gait continuation at a fire entrance side, so that a fire command terminal obtains a tracking result with personnel index, real-time coordinates, floor state and distance state, and reduces the problems of no starting point of a first-stage trajectory and disconnection of a personnel tag corresponding relationship.

Description

Technical Field

[0001] This invention relates to the field of fire communication technology, and in particular to a real-time positioning and tracking system for fire and rescue personnel based on edge computing. Background Technology

[0002] The field of fire communication technology revolves around communication applications for fire scene command, rescue personnel communication, location awareness, alarm information transmission, environmental status collection, and on-site data feedback. Its core aspects include voice communication between firefighter terminals and command platforms, location information transmission, vital sign reporting, maintaining communication links inside and outside buildings, on-site sensor data aggregation, and issuing rescue instructions. It typically combines dedicated wireless communication, mobile communication, local area networking, BeiDou positioning, ultra-wideband base stations, Bluetooth beacons, inertial measurement units, electronic maps, and fire command terminals to collect, transmit, and manage personnel and on-site information at the fire scene. The traditional real-time positioning and tracking system for fire and rescue personnel refers to a positioning and communication system for acquiring the location, recording the trajectory, and reporting the status of fire and rescue personnel at fire scenes, inside buildings, underground spaces, or in obstructed environments. It is usually completed by the cooperation of positioning tags worn by firefighters, inertial measurement units, vital sign collection terminals, on-site ultra-wideband base stations, Bluetooth beacons, wireless relay nodes, edge computing gateways, and electronic maps at the command end. After the positioning tags collect small categories of data such as time difference of arrival, received signal strength, gait displacement, attitude angle, and floor air pressure, they are transmitted to the edge computing gateway via on-site wireless links. The gateway calculates the location, organizes the trajectory, and forwards the data based on the base station coordinates, beacon number, inertial step length, air pressure altitude, and timestamp. Finally, it submits the fire and rescue personnel's number, coordinates, floor, movement status, and alarm information to the fire command end.

[0003] Existing fire and rescue personnel location tracking systems mostly rely on manual registration or remote maintenance of the relationship between tags and personnel. When wireless positioning is not yet stable in the early stages of entering a fire scene, the first segment of the trajectory lacks a reliable starting point, and the tag identity, entrance location, and gait coordinates are easily disconnected, making it difficult for the command end to obtain the corresponding personnel location in a timely manner. Summary of the Invention

[0004] The main objective of this invention is to provide a real-time positioning and tracking system for fire and rescue personnel based on edge computing, which can effectively solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A real-time location tracking system for fire and rescue personnel based on edge computing, the system comprising: The entry binding module is used to receive the registration frame sent by the positioning tag through the edge computing gateway when the positioning tag is close to the entrance beacon, read the task queue written by the fire command terminal, perform entry verification on the registration frame and the task queue, and generate an entry matching sequence value. The anchor point generation module is used to index the queue position based on the entry matching sequence value, read the entrance positioning configuration written by the fire command terminal through the edge computing gateway, calculate the entrance offset coordinates, and generate anchor point coordinate values. The gait continuation module is used to read the data collected by the accelerometer and gyroscope in the positioning tag, starting from the anchor point coordinates, to calculate the step length and the direction angle of travel, and generate continuation coordinates. The distance quantization module is used to receive floor frames sent by stairwell beacons through the edge computing gateway based on the continuous coordinate values ​​and anchor point coordinate values, read the floor number, calculate the coordinate difference and combine the floor number to obtain the positioning distance.

[0006] Preferably, the system also includes: The tracking and reporting module is used to combine the entry matching sequence value, the connection coordinate value, the positioning distance and the floor number, read the link queue through the edge computing gateway, compare the wireless link occupancy rate and the congestion threshold, select the remaining queue position, and obtain the personnel positioning trajectory.

[0007] Preferably, the registration frame is generated by the positioning tag when it approaches the entrance beacon. The registration frame records the tag number, beacon number, arrival time and reception strength. After receiving the registration frame, the edge computing gateway uses the tag number as the positioning tag identity item, the beacon number as the entrance beacon matching item, and the arrival time and reception strength as the entry verification item. The task queue is written to the edge computing gateway by the fire command terminal. The task queue records the task sequence number, entry number, time window and intensity threshold. The time window consists of the start time and the end time. The edge computing gateway arranges the task queue according to the task sequence number.

[0008] Preferably, the entry verification involves the edge computing gateway comparing the arrival time in the registration frame with the time window in the task queue, comparing the beacon number in the registration frame with the entry number in the task queue, comparing the received strength in the registration frame with the strength threshold in the task queue, and selecting the first task number in the task queue from the task queue where all three comparisons are true, thereby generating an entry matching sequence value.

[0009] Preferably, the entrance positioning configuration is written into the edge computing gateway by the fire command terminal. The entrance positioning configuration records the entrance coordinates, doorway orientation, and queue spacing. The edge computing gateway determines the queue position based on the entrance matching sequence value and multiplies the queue position by the queue spacing to obtain the entrance lateral movement amount.

[0010] Preferably, the edge computing gateway determines the offset direction of the entrance lateral movement based on the doorway orientation, superimposes the entrance lateral movement onto the entrance coordinates, calculates the entrance offset coordinates, and uses the entrance offset coordinates as the anchor point coordinate values.

[0011] Preferably, when reading the data collected by the accelerometer and gyroscope in the positioning tag, the edge computing gateway reads the gait vibration data collected by the accelerometer and the angular velocity data collected by the gyroscope, calculates the step length based on the gait vibration data, and calculates the travel direction angle based on the angular velocity data.

[0012] Preferably, when generating the continuation coordinate value, the edge computing gateway uses the anchor point coordinate value as the starting point, converts the step size into a coordinate increment according to the travel direction angle, and superimposes the coordinate increment onto the anchor point coordinate value to generate the continuation coordinate value.

[0013] Preferably, the floor frame is emitted by the stairwell beacon. The floor frame records the stairwell beacon number and the floor number. After the edge computing gateway reads the floor number, it calculates the coordinate difference between the continuation coordinate value and the anchor point coordinate value, and combines the coordinate difference with the floor number to obtain the positioning distance.

[0014] Preferably, the link queue records the wireless link occupancy rate, congestion threshold, and remaining queue positions. The edge computing gateway compares the wireless link occupancy rate and congestion threshold, selects the remaining queue positions, and writes the entry matching sequence value, connection coordinate value, positioning distance, and floor number into the remaining queue positions to obtain the personnel positioning trajectory data.

[0015] Compared with the prior art, the present invention has the following beneficial effects: When firefighters enter a fire entrance, the edge computing gateway performs on-site entry verification of the registration frame and task queue, and converts the entry matching sequence value into anchor point coordinates. Subsequent step sizes and travel direction angles are continued from this anchor point, avoiding the need for remote confirmation or wireless coordinate stabilization during the initial positioning. At the same time, the positioning distance and floor number are written into the link queue, enabling the command terminal to obtain the personnel positioning trajectory with personnel index, real-time coordinates, floor status, and distance status, facilitating continuous viewing of the same firefighter's movement position within the obstructed passage. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the overall system flow of the present invention. Figure 2 This is a flowchart of the entry binding module of the present invention; Figure 3 This is a flowchart of the anchor point generation and gait continuation process of the present invention; Figure 4 This is a flowchart of the distance quantization and tracking reporting process of the present invention. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0018] Please see Figure 1 This invention discloses a real-time positioning and tracking system for fire and rescue personnel based on edge computing. The system includes: The entry binding module is used when firefighters wearing positioning tags approach the entrance beacon. The edge computing gateway receives the registration frame sent by the positioning tag, reads the task queue written by the fire command terminal, performs entry verification on the registration frame and the task queue, and generates an entry matching sequence value. The anchor point generation module, based on the entry matching sequence index queue position, reads the entrance positioning configuration written by the fire command terminal from the edge computing gateway, calculates the entrance offset coordinates, and generates anchor point coordinate values. The gait continuation module takes the anchor point coordinates as the starting point, reads the data collected by the accelerometer and gyroscope in the positioning tag, calculates the step length and the direction angle of travel, and generates continuation coordinates. The distance quantization module, based on the continuous coordinate values ​​and anchor point coordinate values, receives the floor frame sent by the stairwell beacon from the edge computing gateway, reads the floor number, calculates the coordinate difference and combines the floor number to obtain the positioning distance; The tracking and reporting module combines the entry matching sequence value, connection coordinate value, positioning distance and floor number. The edge computing gateway reads the link queue, compares the wireless link occupancy rate and congestion threshold, selects the remaining queue position, and obtains the personnel positioning trajectory.

[0019] This embodiment is applicable to fire rescue communication sites in building entrances, internal passageways, stairwells, underground spaces, and areas where wireless signals are obstructed. Firefighters wear positioning tags when entering the site. Entrance beacons, stairwell beacons, positioning tags, edge computing gateways, wireless relay nodes, and fire command terminals work together. The edge computing gateway receives registration frames, gait data, floor frames, and link queue information on the site side, forming real-time location tracking data corresponding to personnel identity, entrance location, movement trajectory, and reporting queue.

[0020] In the above application scenarios, the following embodiments focus on five processing stages: entry binding, anchor point generation, gait continuation, distance quantization, and tracking reporting. The registration frames, task queues, entry positioning configurations, sensor data collection, floor frames, and link queues used in each stage are all collected by field devices or pre-written into the edge computing gateway by the fire command terminal.

[0021] Example 1, please refer to Figure 2In the operation of this embodiment, the registration frame is generated by the positioning tag worn by the fire and rescue personnel when it approaches the entrance beacon. The positioning tag is pre-written with a tag number. The entrance beacon periodically emits a wireless signal with the beacon number. After receiving the wireless signal emitted by the entrance beacon, the positioning tag sends the registration frame to the edge computing gateway. The edge computing gateway records the time of first receiving the registration frame as the arrival time and reads the reception strength corresponding to that wireless reception. The registration frame records the tag number, beacon number, arrival time and reception strength. After receiving the registration frame, the edge computing gateway uses the tag number as the positioning tag identity item, the beacon number as the entrance beacon matching item, and the arrival time and reception strength as the entry verification items.

[0022] The task queue is written into the edge computing gateway by the fire command terminal before the rescue mission begins. The task queue records the task sequence number, entrance number, time window, and intensity threshold. The task sequence number corresponds to the queue order when fire rescue personnel enter the fire entrance, the entrance number corresponds to the entrance where the entrance beacon is located, the time window consists of the start time and the end time, and the intensity threshold corresponds to the wireless reception strength judgment benchmark when the positioning tag is close to the entrance beacon. The edge computing gateway arranges the task queue according to the task sequence number and uses the task queue as the local comparison object when the registration frame is used for entry verification.

[0023] The entry verification involves the edge computing gateway comparing the arrival time in the registration frame with the time window in the task queue, comparing the beacon number in the registration frame with the entry number in the task queue, and comparing the received strength in the registration frame with the strength threshold in the task queue. When the arrival time is between the start and end times, the beacon number matches the entry number, and the received strength reaches the strength threshold, it is determined that the corresponding task queue meets the entry binding conditions. The gateway then selects the first task number in the task queue that meets the entry binding conditions and generates an entry matching sequence value.

[0024] Example 2, please refer to Figure 3 In this embodiment, based on the previous embodiment's entry verification of the registration frame and task queue and the generation of entry matching sequence value, the edge computing gateway further determines the queue position according to the entry matching sequence value. The entrance positioning configuration is written to the edge computing gateway by the fire command terminal. The entrance positioning configuration records the entrance coordinates, doorway orientation, and queue spacing. The entrance coordinates are the coordinate data of the fire entrance in the on-site electronic map or entrance calibration coordinate system. The doorway orientation is the direction angle data corresponding to the fire rescue personnel entering the building passage from the entrance. The queue spacing is the preset lateral interval between adjacent queue positions. After reading the entrance positioning configuration, the edge computing gateway multiplies the queue position corresponding to the entry matching sequence value with the queue spacing to obtain the entrance lateral movement amount.

[0025] During the calculation of the entrance offset coordinates, the edge computing gateway determines the offset direction of the entrance lateral movement based on the orientation of the doorway, and superimposes the entrance lateral movement onto the entrance coordinates according to the offset direction to calculate the entrance offset coordinates. The entrance offset coordinates are used to represent the entry starting point of the corresponding queue position at the fire entrance. The edge computing gateway uses the entrance offset coordinates as anchor point coordinate values ​​and establishes a correspondence between the anchor point coordinate values ​​and the entry matching sequence values.

[0026] Example 3, please refer to Figure 3 In this embodiment, based on the previous embodiment which generated anchor point coordinate values ​​and established a correspondence between the anchor point coordinate values ​​and the entry matching sequence values, the edge computing gateway further uses the anchor point coordinate values ​​as the starting point of the first segment of the fire and rescue personnel's movement coordinates, and reads the data collected by the accelerometer and gyroscope in the positioning tag. The accelerometer is used to collect the gait vibration data generated by the fire and rescue personnel wearing the positioning tag while moving, and the gyroscope is used to collect the angular velocity data generated by the positioning tag as the fire and rescue personnel turn. The edge computing gateway calculates the step length based on the gait vibration data and the movement direction angle based on the angular velocity data.

[0027] During the generation of successive coordinate values, the edge computing gateway uses the anchor point coordinate value as the starting point, converts the step size into a coordinate increment according to the travel direction angle, and the coordinate increment is used to represent the change in planar displacement when fire rescue personnel move from the fire entrance into the building passage. The edge computing gateway superimposes the coordinate increment onto the anchor point coordinate value to generate successive coordinate values, and keeps the successive coordinate values ​​corresponding to the entry matching sequence value.

[0028] Example 4, please refer to Figure 4 In this embodiment, based on the previous embodiment which generated continuation coordinate values ​​and maintained the correspondence between the continuation coordinate values ​​and the entry matching sequence values, the edge computing gateway further receives floor frames emitted by stairwell beacons. The floor frames are emitted by stairwell beacons, which are set at the intersection of building stairwells or floor passages. The floor frames record the stairwell beacon number and the floor number. The stairwell beacon number is used to identify the stairwell beacon that fire and rescue personnel are approaching, and the floor number is used to identify the floor where the stairwell beacon is located. The edge computing gateway reads the floor number and uses the floor number as the floor identifier corresponding to the continuation coordinate values.

[0029] During the generation of the positioning distance, the edge computing gateway calculates the coordinate difference between the continuation coordinate value and the anchor point coordinate value to obtain the planar distance data of the fire rescue personnel relative to the fire entrance anchor point. The edge computing gateway combines the coordinate difference with the floor number to obtain the positioning distance. The positioning distance is used to represent the distance status and floor status of the fire rescue personnel relative to the anchor point coordinate value in the building passage.

[0030] Example 5, please refer to Figure 4 In this embodiment, based on the positioning distance obtained in the previous embodiment and the corresponding relationship between the connecting coordinate value, positioning distance, and floor number, the edge computing gateway further reads the link queue. The link queue records the wireless link occupancy rate, congestion threshold, and remaining queue positions. The wireless link occupancy rate is calculated by the edge computing gateway based on the number of occupied transmission positions in the current transmission queue and the total number of transmission positions. The congestion threshold is written to the edge computing gateway by the fire command terminal before the start of the rescue mission. The remaining queue positions are obtained by the edge computing gateway scanning the transmission positions in the current transmission queue that have not been written with data.

[0031] During the generation of personnel location trajectory data, the edge computing gateway compares the wireless link occupancy rate with the congestion threshold. When the wireless link occupancy rate has not reached the congestion threshold, the edge computing gateway selects the remaining queue position at the front of the queue. When the wireless link occupancy rate reaches the congestion threshold, the edge computing gateway selects the remaining queue position in the current transmission queue used for location tracking data, and then writes the entry matching sequence value, the continuation coordinate value, the location distance, and the floor number into the remaining queue position to obtain the personnel location trajectory data.

[0032] Example 6: The following example illustrates the operation of the present invention in the context of a fire rescue incident in an underground commercial building.

[0033] In this example, a fire breaks out at the entrance of the first floor of an underground commercial building. Firefighter A, wearing a positioning tag, enters the fire entrance. An entrance beacon is set up at the entrance, and a stairwell beacon is set up at the stairwell. An edge computing gateway is deployed on-site. Before the rescue mission begins, the fire command terminal writes a task queue and entrance positioning configuration to the edge computing gateway. The task queue records the task sequence number, entrance number, time window, and intensity threshold, while the entrance positioning configuration records the entrance coordinates, doorway orientation, and queue spacing.

[0034] When firefighter A approaches the entrance beacon, the positioning tag receives the wireless signal emitted by the entrance beacon and sends a registration frame to the edge computing gateway. The registration frame records the tag number T01, beacon number B01, arrival time 09:00:12, and received signal strength -48dBm. After reading the task queue, the edge computing gateway compares the arrival time 09:00:12 with the time window 09:00:00 to 09:02:00, compares the beacon number B01 with the entrance number B01, and compares the received signal strength -48dBm with the strength threshold -60dBm. When all three comparisons are true, the edge computing gateway selects the first task number 2 in the task queue that meets the entry binding conditions and generates the entry matching sequence value 2.

[0035] The edge computing gateway indexes the queue position based on the entry matching sequence value 2, reads the entrance coordinates, door orientation, and queue spacing in the entrance positioning configuration. Assuming the entrance coordinates are (100, 50), the door orientation is 90°, and the queue spacing is 0.8m, the edge computing gateway multiplies the queue position 2 by the queue spacing 0.8m to obtain the entrance lateral movement amount of 1.6m. Based on the door orientation, it determines the offset direction of the entrance lateral movement amount, adds the entrance lateral movement amount to the entrance coordinates, calculates the entrance offset coordinates (101.6, 50), and uses this entrance offset coordinates as the anchor point coordinate value.

[0036] After firefighter A enters the building passage from the entrance, the edge computing gateway uses the anchor point coordinates (101.6, 50) as the starting point of the first segment of movement coordinates. It reads the data collected by the accelerometer and gyroscope in the positioning tag, calculates the step length as 1.2m based on the gait vibration data collected by the accelerometer, and calculates the movement direction angle as 90° based on the angular velocity data collected by the gyroscope. The edge computing gateway converts the step length of 1.2m into a coordinate increment (0, 1.2) according to the movement direction angle of 90°, and adds the coordinate increment to the anchor point coordinate value to generate the subsequent coordinate value (101.6, 51.2).

[0037] As firefighter A continues to approach the stairwell area, the edge computing gateway receives the floor frame emitted by the stairwell beacon. The floor frame records the stairwell beacon number S01 and the floor number 1. The edge computing gateway reads the floor number 1 and calculates the coordinate difference between the continuation coordinate value (101.6, 51.2) and the anchor point coordinate value (101.6, 50) to obtain the planar distance data of 1.2m. Then, the planar distance data of 1.2m is combined with the floor number 1 to obtain the positioning distance.

[0038] The edge computing gateway reads the link queue. Assuming that 6 transmission bits are currently occupied in the transmission queue and the total number of transmission bits is 10, the wireless link occupancy rate is 60% and the congestion threshold is 80%. After comparing the wireless link occupancy rate and the congestion threshold, the edge computing gateway selects the remaining queue position at the front of the queue and writes the entry matching sequence value 2, the connection coordinate value (101.6, 51.2), the positioning distance, and the floor number 1 into the remaining queue position to obtain the personnel positioning trajectory. The personnel positioning trajectory is then reported to the fire command terminal via the wireless relay node. Based on this, the fire command terminal displays the location trajectory of fire rescue personnel A corresponding to the positioning tag T01 in the passage on the first floor of the underground commercial building.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended technical solutions and their equivalents.

Claims

1. A real-time positioning and tracking system for fire and rescue personnel based on edge computing, characterized in that, The system includes: The entry binding module is used to receive the registration frame sent by the positioning tag through the edge computing gateway when the positioning tag is close to the entrance beacon, read the task queue written by the fire command terminal, perform entry verification on the registration frame and the task queue, and generate an entry matching sequence value. The anchor point generation module is used to index the queue position based on the entry matching sequence value, read the entrance positioning configuration written by the fire command terminal through the edge computing gateway, calculate the entrance offset coordinates, and generate anchor point coordinate values. The gait continuation module is used to read the data collected by the accelerometer and gyroscope in the positioning tag, starting from the anchor point coordinates, to calculate the step length and the direction angle of travel, and generate continuation coordinates. The distance quantization module is used to receive floor frames sent by stairwell beacons through the edge computing gateway based on the continuous coordinate values ​​and anchor point coordinate values, read the floor number, calculate the coordinate difference and combine the floor number to obtain the positioning distance.

2. The system according to claim 1, characterized in that, The system also includes: The tracking and reporting module is used to combine the entry matching sequence value, the connection coordinate value, the positioning distance and the floor number, read the link queue through the edge computing gateway, compare the wireless link occupancy rate and the congestion threshold, select the remaining queue position, and obtain the personnel positioning trajectory.

3. The system according to claim 1, characterized in that, The registration frame is generated by the positioning tag when it approaches the entrance beacon. The registration frame records the tag number, beacon number, arrival time and reception strength. After receiving the registration frame, the edge computing gateway uses the tag number as the positioning tag identity item, the beacon number as the entrance beacon matching item, and the arrival time and reception strength as the entry verification item. The task queue is written to the edge computing gateway by the fire command terminal. The task queue records the task sequence number, entry number, time window and intensity threshold. The time window consists of the start time and the end time. The edge computing gateway arranges the task queue according to the task sequence number.

4. The system according to claim 1, characterized in that, The entry verification involves the edge computing gateway comparing the arrival time in the registration frame with the time window in the task queue, comparing the beacon number in the registration frame with the entry number in the task queue, and comparing the received strength in the registration frame with the strength threshold in the task queue. Then, it selects the first task number in the task queue from the task queue where all three comparisons are true, and generates an entry matching sequence value.

5. The system according to claim 1, characterized in that, The entrance positioning configuration is written into the edge computing gateway by the fire command terminal. The entrance positioning configuration records the entrance coordinates, doorway orientation and queue spacing. The edge computing gateway determines the queue position according to the entrance matching sequence value and multiplies the queue position by the queue spacing to obtain the entrance lateral movement amount.

6. The system according to claim 5, characterized in that, The edge computing gateway determines the offset direction of the entrance lateral movement based on the doorway orientation, superimposes the entrance lateral movement onto the entrance coordinates, calculates the entrance offset coordinates, and uses the entrance offset coordinates as the anchor point coordinate values.

7. The system according to claim 1, characterized in that, When reading the data collected by the accelerometer and gyroscope in the positioning tag, the edge computing gateway reads the gait vibration data collected by the accelerometer and the angular velocity data collected by the gyroscope, calculates the step length based on the gait vibration data, and calculates the travel direction angle based on the angular velocity data.

8. The system according to claim 1, characterized in that, When generating the continuation coordinate value, the edge computing gateway takes the anchor point coordinate value as the starting point, converts the step size into a coordinate increment according to the travel direction angle, and adds the coordinate increment to the anchor point coordinate value to generate the continuation coordinate value.

9. The system according to claim 1, characterized in that, The floor frame is sent by the stairwell beacon. The floor frame records the stairwell beacon number and the floor number. After the edge computing gateway reads the floor number, it calculates the coordinate difference between the continuation coordinate value and the anchor point coordinate value, and combines the coordinate difference with the floor number to obtain the positioning distance.

10. The system according to claim 2, characterized in that, The link queue records the wireless link occupancy rate, congestion threshold, and remaining queue positions. The edge computing gateway compares the wireless link occupancy rate and congestion threshold, selects the remaining queue positions, and writes the entry matching sequence value, connection coordinate value, positioning distance, and floor number into the remaining queue positions to obtain the personnel positioning trajectory data.

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